基于三维激光雷达的轨道异物监测系统与方法研究

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中图分类号：U216.3 文献标志码：B doi：10.20214/j.cnki.zhgdjt.2025.01.01

ResearchonRailForeignObjectSurveilanceSystemandMethod BasedonThre-dimensionalLaserRadar

ZHAONin ，SUNJianbin ，WULei，TANGChenhuan （TianjinJintieElectronicTechnologyCo.，Ltd.，Tianjin ，China）

Abstract：Thetraditionalrailforeignobjectsurveilancemethodislimitedbyrealtimedeficiencyandhigh falsealarmrate，whichisdificultomethehighsafetyrequirementsofmodernrailtransit.Thispaperaims tosolvethechalengesfacedbyforeignobjectsurveilanceinrailtransit，andproposesarailforeignobject surveilancesystembasedonTele-15thre-dimensionalaserradar.Therailforeignobjectsurveilancesystem adoptsa modulardesign，includingdataacquisition，preprocesing，foreignobjectsurveilanceanduser interface.Tele-15laserradarcandetectpointclouddatawithhighacuracyandlongdistances，eliminatingthe influenceoflightandweather，andensuringtheacuracyofpointclouddata.Thecalibrationalgorithmof cordinatetransformationandrotationmatrixisdesigned，andthealignmentoflaserradarcordinatesystem withglobalcordinatesystemisrealized，whichimprovesthestabilityandreliabilityofthesystem.Atthe sametime，therailforeignobjectsurveilancealgorithmisdesignedtosolvetheproblem ofreal-time surveilanceofpointclouddata.Basedontherailforeignobjectsurveilancesystem，thefieldenvironmental functiontestwascariedout.Thetestresultsshowedthatwhenpeopleapearat 20～200m ，therailforeign objectsurveilancesystemcangiveanimmediatealarm.Thiscanefectivelyreducethefalsealarmrateand improvethesafetyofrailtransit.Atthesametime，thesystem alsohasanintuitivehuman-computer interactioninterface，whichisconvenientforuserstoobserveandanalyzedata，andprovidesanewtechnical

meansforimrovin thesafet ofrailtransit.

Keywords：rail;foreignobjectsurveilance;Tele-15thre-dimensionallaserradar;pointclouddata; filteringalgorithm

随着轨道交通事业的迅速发展，列车速度越来越快，极大地提高了人们的出行质量，列车运行安全问题始终是重中之重[1]。（剩余8641字）